Fixes required to follow tutorial

canopen/sphinx/user-guide/cia402-driver.rst

@@ -122,7 +122,7 @@ Additional parameters that can be used in bus.yml for this driver.
     - Milliseconds
     - Refresh period for 402 state machine. Should be similar to sync period of master.
   * - switching_state
-    - see below
+    - ?
     - The state to switch the operation mode in.
   * - scale_pos_to_dev
     - double

canopen/sphinx/user-guide/configuration.rst

@@ -88,7 +88,7 @@ but come from the lely core library. Below you find a list of possible configura
   :widths: 1 1
 
   configuration item; description
-  node_id; The node-ID (default: 255)
+  node_id; The node-ID (e.g. 255)
   driver; The fully qualified class name of the master to use.
   package; The ros2 package name in which the master class can be found.
   namespace; The namespace in which the master will be created (default: "/").

canopen/sphinx/user-guide/how-to-create-a-configuration.rst

@@ -104,7 +104,7 @@ Bus configuration creation
     .. code-block:: yaml
 
       options:
-        dcf_path: install/{package_name}/share/{package_name}/config/{bus_config_name}
+        dcf_path: "@BUS_CONFIG_PATH@"
 
     Then you need to define your master.
 
@@ -126,7 +126,7 @@ Bus configuration creation
     .. code-block:: yaml
 
       nodes:
-        - [unique slave name]:
+        [unique slave name]:
           node_id: [node id]
           package: [ros2 package where to find the driver]
           driver: [qualified name of the driver]
@@ -141,8 +141,7 @@ Create a launch folder in your package directory and a launch file.
 
 .. code-block:: console
 
-  mkdir launch
-  touch {...}.launch.py
+  touch launch/{...}.launch.py
 
 Add the following code:
 
@@ -169,12 +168,6 @@ Add the following code:
                     "{bus_config_name}",
                     "master.dcf",
                 ),
-                "master_bin": os.path.join(
-                    get_package_share_directory("{package_name}"),
-                    "config",
-                    "{bus_config_name}",
-                    "master.bin",
-                ),
                 "bus_config": os.path.join(
                     get_package_share_directory("{package_name}"),
                     "config",
@@ -206,36 +199,14 @@ Finally we need to adjust the CMakeLists.txt file to pick everything up correctl
 
   # find dependencies
   find_package(ament_cmake REQUIRED)
-  find_package(canopen_core REQUIRED)
-  find_package(canopen_interfaces REQUIRED)
-  find_package(canopen_base_driver REQUIRED)
-  find_package(canopen_proxy_driver REQUIRED)
   find_package(lely_core_libraries REQUIRED)
 
 
   cogen_dcf({bus_config_name})
 
   install(DIRECTORY
-    launch/
-    DESTINATION share/${PROJECT_NAME}/launch/
-  )
-
-  install(DIRECTORY
-    launch_tests/
-    DESTINATION share/${PROJECT_NAME}/launch_tests/
+    launch
+    DESTINATION share/${PROJECT_NAME}
   )
 
-
-  if(BUILD_TESTING)
-    find_package(ament_lint_auto REQUIRED)
-    # the following line skips the linter which checks for copyrights
-    # comment the line when a copyright and license is added to all source files
-    set(ament_cmake_copyright_FOUND TRUE)
-    # the following line skips cpplint (only works in a git repo)
-    # comment the line when this package is in a git repo and when
-    # a copyright and license is added to all source files
-    set(ament_cmake_cpplint_FOUND TRUE)
-    ament_lint_auto_find_test_dependencies()
-  endif()
-
   ament_package()

canopen/sphinx/user-guide/how-to-create-a-robot-system.rst

@@ -223,4 +223,4 @@ leveragin ros2_control.
 
 .. code-block:: bash
 
-  ros2 topic pub /joint1/forward_position_controller/command std_msgs/msg/Float64 "data: [1.0, 1.0]"
+  ros2 topic pub /joint_1/forward_position_controller/command std_msgs/msg/Float64 "data: [1.0, 1.0]"

canopen_base_driver/include/canopen_base_driver/node_interfaces/node_canopen_base_driver_impl.hpp

@@ -45,15 +45,15 @@ void NodeCanopenBaseDriver<rclcpp_lifecycle::LifecycleNode>::configure(bool call
   }
   RCLCPP_INFO_STREAM(
     this->node_->get_logger(),
-    "Non transmit timeout" << static_cast<int>(this->non_transmit_timeout_.count()) << "ms");
+    "Non transmit timeout " << static_cast<int>(this->non_transmit_timeout_.count()) << "ms");
 
   try
   {
     polling_ = this->config_["polling"].as<bool>();
   }
   catch (...)
   {
-    RCLCPP_WARN(this->node_->get_logger(), "Could not polling from config, setting to true.");
+    RCLCPP_WARN(this->node_->get_logger(), "Could not read polling from config, setting to true.");
     polling_ = true;
   }
   if (polling_)
@@ -78,7 +78,7 @@ void NodeCanopenBaseDriver<rclcpp_lifecycle::LifecycleNode>::configure(bool call
   {
     RCLCPP_WARN(
       this->node_->get_logger(),
-      "Could not read enable diagnostics from config, setting to false.");
+      "Could not read `diagnostics/enable` from config, setting to false.");
     diagnostic_enabled_ = false;
   }
   if (diagnostic_enabled_.load())
@@ -91,7 +91,7 @@ void NodeCanopenBaseDriver<rclcpp_lifecycle::LifecycleNode>::configure(bool call
     {
       RCLCPP_ERROR(
         this->node_->get_logger(),
-        "Could not read diagnostics period from config, setting to 1000ms");
+        "Could not read `diagnostics/period` from config, setting to 1000ms");
       diagnostic_period_ms_ = 1000;
     }
 
@@ -132,15 +132,15 @@ void NodeCanopenBaseDriver<rclcpp::Node>::configure(bool called_from_base)
   }
   RCLCPP_INFO_STREAM(
     this->node_->get_logger(),
-    "Non transmit timeout" << static_cast<int>(this->non_transmit_timeout_.count()) << "ms");
+    "Non transmit timeout " << static_cast<int>(this->non_transmit_timeout_.count()) << "ms");
 
   try
   {
     polling_ = this->config_["polling"].as<bool>();
   }
   catch (...)
   {
-    RCLCPP_WARN(this->node_->get_logger(), "Could not polling from config, setting to true.");
+    RCLCPP_WARN(this->node_->get_logger(), "Could not read polling from config, setting to true.");
     polling_ = true;
   }
   if (polling_)
@@ -165,7 +165,7 @@ void NodeCanopenBaseDriver<rclcpp::Node>::configure(bool called_from_base)
   {
     RCLCPP_WARN(
       this->node_->get_logger(),
-      "Could not read enable diagnostics from config, setting to false.");
+      "Could not read `diagnostics/enable` from config, setting to false.");
     diagnostic_enabled_ = false;
   }
   if (diagnostic_enabled_.load())
@@ -178,7 +178,7 @@ void NodeCanopenBaseDriver<rclcpp::Node>::configure(bool called_from_base)
     {
       RCLCPP_WARN(
         this->node_->get_logger(),
-        "Could not read diagnostics period from config, setting to 1000ms");
+        "Could not read `diagnostics/period` from config, setting to 1000ms");
       diagnostic_period_ms_ = 1000;
     }
 
@@ -294,7 +294,7 @@ void NodeCanopenBaseDriver<NODETYPE>::add_to_master()
     bool boot_success = false;
     int boot_attempts = 0;
     const int max_boot_attempts = 3;  // 1 retry allowed
-    RCLCPP_WARN(this->node_->get_logger(), "Wait for device to boot...");
+    RCLCPP_INFO(this->node_->get_logger(), "Wait for device to boot...");
     while (!boot_success && boot_attempts < max_boot_attempts)
     {
       boot_attempts++;

canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp

@@ -40,7 +40,7 @@ namespace node_interfaces
  * @brief Node Canopen Master
  *
  * This class implements the NodeCanopenMasterInterface. It provides
- * core functionality and logic for CanopenMaster, indepentently of the
+ * core functionality and logic for CanopenMaster, independently of the
  * ROS node type. Currently rclcpp::Node and rclcpp_lifecycle::LifecycleNode
  * and derived classes are supported. Other node types will lead to compile
  * time error.
@@ -85,7 +85,7 @@ class NodeCanopenMaster : public NodeCanopenMasterInterface
   std::string master_dcf_;
   std::string master_bin_;
   std::string can_interface_name_;
-  uint32_t timeout_;
+  uint32_t timeout_ = 2000;
 
   std::thread spinner_;
 
@@ -169,18 +169,17 @@ class NodeCanopenMaster : public NodeCanopenMasterInterface
 
   virtual void configure(bool called_from_base)
   {
-    std::optional<int> timeout;
     try
     {
-      timeout = this->config_["boot_timeout"].as<int>();
+      this->timeout_ = this->config_["boot_timeout"].as<int>();
     }
     catch (...)
     {
       RCLCPP_WARN(
         this->node_->get_logger(),
-        "No timeout parameter found in config file. Using default value of 100ms.");
+        "No `boot_timeout` parameter found in config file. Using default value of %dms.",
+        this->timeout_);
     }
-    this->timeout_ = timeout.value_or(2000);
     RCLCPP_INFO_STREAM(
       this->node_->get_logger(), "Master boot timeout set to " << this->timeout_ << "ms.");
   }

canopen_ros2_control/include/canopen_ros2_control/cia402_data.hpp

@@ -58,12 +58,12 @@ struct Cia402Data
 
     if (!config["node_id"])
     {
-      RCLCPP_ERROR(rclcpp::get_logger(joint_name), "No node id for '%s'", joint.name.c_str());
+      RCLCPP_INFO(rclcpp::get_logger(joint_name), "No node id for '%s'", joint.name.c_str());
       return false;
     }
 
     node_id = config["node_id"].as<uint16_t>();
-    RCLCPP_ERROR(
+    RCLCPP_INFO(
       rclcpp::get_logger(joint_name), "Node id for '%s' is '%u'", joint.name.c_str(), node_id);
 
     if (config["position_mode"])